CN112208797B - Attitude control method and system during calibration of two-dimensional antenna electric axis direction of deep space probe - Google Patents
Attitude control method and system during calibration of two-dimensional antenna electric axis direction of deep space probe Download PDFInfo
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Abstract
The invention provides a method and a system for controlling the attitude of a deep space probe during the calibration of the direction of a two-dimensional antenna electric axis, which comprises the following steps: step 1: calculating the position of the detector in real time according to the track of the detector, and taking a unit vector of a ground connection line as a + Z axis of a target attitude reference; step 2: calculating the position of a detector in real time according to the detector track, calculating a daily vector of the detector, and taking a vector obtained by cross multiplying the daily vector of the ground instrument vector as a + Y axis of a target attitude reference; and step 3: and (4) performing cross multiplication on the + Z axis and the + Y axis to obtain a + X axis of a target attitude reference system, and performing attitude control by superposing the detector body system and the target attitude reference system in a wheel control mode. The mechanical main shaft of the two-dimensional antenna is always kept on the ground, and the track change does not influence the calibration result; meanwhile, the sailboard can face the sun, and energy supply is guaranteed.
Description
Technical Field
The invention relates to the technical field of attitude dynamics, in particular to an attitude control method and an attitude control system during calibration of a two-dimensional antenna electric axis direction of a deep space probe.
Background
The deep space probe has a long flying distance and can only rely on a high-gain antenna with a large reflecting surface and narrow beams for high-speed communication with the ground. When the detector attitude maneuver and the orbit position change, in order to ensure that the high-gain antenna can still point to the earth, a two-dimensional mechanism is used for realizing the large-angle random pointing of the antenna. Under the influence of heat flow outside the space, the mechanism and the antenna reflecting surface can deform in a cold and hot alternating environment, the beam direction changes, and the antenna beam main shaft needs to be searched in a device-ground combined calibration mode. During calibration, the antenna two-dimensional mechanism rotates at a large angle, and the detector needs to ensure that the-Z axis of the system always points to the earth, so that the influence of attitude change on a calibration result is prevented.
In a deep space detector large-aperture antenna pointing on-orbit calibration scheme (see deep space detection academic press, 12.2018, volume 5, stage 6, page number 554-. The satellite attitude maneuver target attitude is calculated from the ground and is applied by upper note. The method cannot solve the problem of influence of the orbital motion of the satellite on the direction of the antenna, and meanwhile, due to the maneuvering of the attitude, the sailboard cannot be guaranteed to be vertically illuminated, so that the energy supply of the whole satellite is influenced.
In the Zhongwei country, the Zhehu billow and the Cuiyun, an autonomous attitude planning method of the deep space probe is provided according to task requirements in the autonomous attitude guidance of the three-axis stable deep space probe (see the aerospace science and journal, 3/2006, No. 27, No. 2 and page number 286 plus 290), and an autonomous navigation system, an ephemeris file and a target vector are used as input conditions in planning, so that a space reference orientation is agreed under each mode. The task modes listed in the text are only suitable for the ground communication state, and the use requirements cannot be met when the antenna calibration requires the large-angle rotation of the two-dimensional mechanism.
Patent document CN109039422A (application number: 201810683929.7) discloses an in-orbit calibration system and method for a deep space exploration high-gain antenna, which proposes the operation steps of pointing the antennas on a ground station and a detector when calibrating the ground antenna, but the method only proposes that the ground antenna on the detector is needed to finish pointing to the ground, and does not consider the influence on calibration when the detector is in attitude and orbit motion.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a method and a system for controlling the attitude of a deep space probe during the calibration of the two-dimensional antenna electric axis direction.
The attitude control method for the deep space probe during the calibration of the two-dimensional antenna electric axis direction provided by the invention comprises the following steps:
step 1: calculating the position of the detector in real time according to the track of the detector, and connecting the unit vector r of the ground deviceepA + Z axis as a target attitude reference;
step 2: calculating the position of the detector in real time according to the detector track, and calculating the daily vector rpsCross multiplier vector of ground deviceDay vector rep×rpsThe obtained vector is used as a + Y axis of the target attitude reference;
and step 3: and (4) performing cross multiplication on the + Z axis and the + Y axis to obtain a + X axis of a target attitude reference system, and performing attitude control by superposing the detector body system and the target attitude reference system in a wheel control mode.
Preferably, a ground high-gain antenna on the deep space probe is arranged on the-Z surface of the probe, a ground attitude target attitude reference is set, and the probe uses a flywheel control body to enable the system to be coincident with the attitude reference.
Preferably, the detector is calibrated on the two-dimensional ground antenna, and the antenna beam always covers the earth.
Preferably, the detector controls the rotation angle of the sailboard driving mechanism to align the sailboard with the sun when the two-dimensional ground antenna is calibrated.
The attitude control system for the deep space probe during the calibration of the two-dimensional antenna electric axis direction provided by the invention comprises:
module M1: calculating the position of the detector in real time according to the track of the detector, and connecting the unit vector r of the ground deviceepA + Z axis as a target attitude reference;
module M2: calculating the position of the detector in real time according to the detector track, and calculating the daily vector rpsCross-multiplier the earth vector by the sun vector rep×rpsThe obtained vector is used as a + Y axis of the target attitude reference;
module M3: and (4) performing cross multiplication on the + Z axis and the + Y axis to obtain a + X axis of a target attitude reference system, and performing attitude control by superposing the detector body system and the target attitude reference system in a wheel control mode.
Preferably, a ground high-gain antenna on the deep space probe is arranged on the-Z surface of the probe, a ground attitude target attitude reference is set, and the probe uses a flywheel control body to enable the system to be coincident with the attitude reference.
Preferably, the detector is calibrated on the two-dimensional ground antenna, and the antenna beam always covers the earth.
Preferably, the detector controls the rotation angle of the sailboard driving mechanism to align the sailboard with the sun when the two-dimensional ground antenna is calibrated.
Compared with the prior art, the invention has the following beneficial effects: according to the method, a ground and device daily vector of a real-time calculator is calculated according to orbit data to obtain a target attitude of Z to the ground, a wheel control mode is used for enabling a detector body to be superposed with the target attitude, a mechanical main shaft of a two-dimensional antenna is always kept to the ground under the attitude reference, and the orbit change does not influence a calibration result; meanwhile, the sailboard can face the sun, and energy supply is guaranteed.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic diagram of the target attitude of the present invention in calibrating a ground antenna.
FIG. 2 is a probe attitude control flow for calibrating a ground antenna according to the present invention.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Example (b):
according to the attitude control method during calibration of the direction of the two-dimensional antenna electric axis of the deep space probe, the beam of the earth antenna can always cover the earth by restricting the direction of the body-Z axis of the probe, and the direction of the body-Y axis is determined according to the relation between the earth vector and the earth vector, so that the illuminated angle of a sailboard is optimal, as shown in figure 1, the attitude control method is a schematic diagram of the target attitude during calibration of the earth antenna.
As shown in fig. 2, the embodiment of the present invention is as follows:
step 1: calculating the position of the detector in real time according to the track of the detector, and connecting the unit vector r of the ground deviceepA + Z axis as a target attitude reference;
the high-gain antenna to the ground on the deep space detector is arranged on the-Z surface of the detector, and the + Z axis of the target attitude reference is calculated by a ground vector. When the detector is calibrated on the two-dimensional ground antenna, the antenna beam can always cover the earth no matter how the spatial position of the detector changes.
Step 2: calculating the position of the detector in real time according to the detector track, and calculating the daily vector rpsCross-multiplier the earth vector by the sun vector rep×rpsThe obtained vector is used as the + Y axis of the target attitude reference;
the + Y axis of the target attitude reference is cross-multiplied by the earth vector rep×rpsAnd calculating to ensure that the sailboard is aligned to the sun by controlling the rotation angle of the sailboard driving mechanism when the detector is calibrated on the two-dimensional ground antenna, and the energy supply is not influenced.
And step 3: and (3) performing cross multiplication on the + Y and + Z axes obtained in the step (1) and the step (2) to obtain a + X axis of the target attitude reference system, and enabling the detector body system to be superposed with the target attitude reference system in a wheel control mode.
And determining a target attitude reference by the first 2 steps, enabling the detector to realize coincidence of the system and the target attitude reference in the space by using a flywheel control mode, and enabling the beam direction observed on the ground to be only related to the rotation angle of the antenna driving mechanism and not to be influenced by the attitude and the track of the detector when the ground antenna rotates in two dimensions under the mode.
The attitude control system for the deep space probe during the calibration of the two-dimensional antenna electric axis direction provided by the invention comprises:
module M1: calculating the position of the detector in real time according to the track of the detector, and connecting the unit vector r of the ground deviceepA + Z axis as a target attitude reference;
module M2: calculating the position of the detector in real time according to the detector track, and calculating the daily vector rpsCross-multiplying the earth vector by the sun vector rep×rpsThe obtained vector is used as a + Y axis of the target attitude reference;
module M3: and (4) performing cross multiplication on the + Z axis and the + Y axis to obtain a + X axis of a target attitude reference system, and performing attitude control by superposing the detector body system and the target attitude reference system in a wheel control mode.
Preferably, a ground high-gain antenna on the deep space probe is arranged on the-Z surface of the probe, a ground attitude target attitude reference is set, and the probe uses a flywheel control body to enable the system to coincide with the attitude reference.
Preferably, the detector is calibrated on the two-dimensional earth antenna, and the antenna beam always covers the earth.
Preferably, the detector controls the rotation angle of the sailboard driving mechanism to align the sailboard with the sun when the two-dimensional ground antenna is calibrated.
Those skilled in the art will appreciate that, in addition to implementing the systems, apparatus, and various modules thereof provided by the present invention in purely computer readable program code, the same procedures can be implemented entirely by logically programming method steps such that the systems, apparatus, and various modules thereof are provided in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers, embedded microcontrollers and the like. Therefore, the system, the device and the modules thereof provided by the present invention can be considered as a hardware component, and the modules included in the system, the device and the modules thereof for implementing various programs can also be considered as structures in the hardware component; modules for performing various functions may also be considered to be both software programs for performing the methods and structures within hardware components.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (8)
1. A method for controlling the attitude of a deep space probe during the calibration of the direction of a two-dimensional antenna electric axis is characterized by comprising the following steps:
step 1: calculating the position of the detector in real time according to the track of the detector, and connecting the unit vector r of the ground deviceepAs a target attitude referenceThe + Z axis of (1);
step 2: calculating the position of the detector in real time according to the detector track, and calculating the daily vector rpsCross-multiplier the earth vector by the sun vector rep×rpsThe obtained vector is used as a + Y axis of the target attitude reference;
and step 3: and (4) performing cross multiplication on the + Z axis and the + Y axis to obtain a + X axis of a target attitude reference system, and performing attitude control by superposing the detector body system and the target attitude reference system in a wheel control mode.
2. The attitude control method during calibration of the electric axis direction of the two-dimensional antenna of the deep space probe as claimed in claim 1, characterized in that the high gain antenna to ground on the deep space probe is installed on the-Z surface of the probe, a target attitude reference to ground is set, and the probe uses the flywheel control body to make the system coincide with the attitude reference.
3. The attitude control method during the calibration of the electric axis direction of the two-dimensional antenna of the deep space probe as claimed in claim 1, characterized in that when the probe is calibrated on the two-dimensional ground antenna, the antenna beam always covers the earth.
4. The attitude control method during calibration of the electric axis direction of the two-dimensional antenna of the deep space probe as claimed in claim 1, characterized in that the probe aligns the sailboard to the sun by controlling the rotation angle of the sailboard driving mechanism when the two-dimensional ground antenna is calibrated.
5. An attitude control system during calibration of a two-dimensional antenna electric axis direction of a deep space probe is characterized by comprising:
module M1: calculating the position of the detector in real time according to the track of the detector, and connecting the unit vector r of the ground deviceepA + Z axis as a target attitude reference;
module M2: calculating the position of the detector in real time according to the detector track, and calculating the daily vector rpsCross-multiplying the earth vector by the sun vector rep×rpsThe obtained vector is used as the target attitudeThe + Y axis of the reference;
module M3: and (4) performing cross multiplication on the + Z axis and the + Y axis to obtain a + X axis of a target attitude reference system, and performing attitude control by superposing the detector body system and the target attitude reference system in a wheel control mode.
6. The attitude control system during calibration of the electric axis direction of the two-dimensional antenna of the deep space probe as claimed in claim 5, wherein the high gain antenna to ground on the deep space probe is installed on the-Z surface of the probe, a target attitude reference to ground is set, and the probe uses the flywheel control body to make the system coincide with the attitude reference.
7. The attitude control system during calibration of the electric axis direction of the deep space probe two-dimensional antenna according to claim 5, wherein the antenna beam always covers the earth when the probe is calibrated on the two-dimensional ground antenna.
8. The attitude control system during calibration of the electric axis direction of the deep space probe two-dimensional antenna according to claim 5, wherein the probe aligns the sailboard to the sun by controlling the rotation angle of the sailboard driving mechanism when the two-dimensional ground antenna is calibrated.
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| DE4129630A1 (en) * | 1991-09-06 | 1993-05-06 | Deutsche Aerospace Ag, 8000 Muenchen, De | MEASURING ARRANGEMENT AND CONTROL SYSTEM FOR THE POSITION CONTROL OF A THREE-AXIS-STABILIZED SATELLITE AND RELATED MEASURING AND CONTROL PROCEDURES |
| US7739003B2 (en) * | 2006-06-20 | 2010-06-15 | Kara Whitney Johnson | Method of determining and controlling the inertial attitude of a spinning, artificial satellite and systems therefor |
| CN102431659B (en) * | 2011-10-27 | 2013-07-24 | 北京航空航天大学 | Halo orbit detector structure of sun-earth system and attitude directing thereof |
| CN104369877B (en) * | 2014-09-03 | 2016-08-17 | 北京空间飞行器总体设计部 | The method for designing that a kind of deep space probe antenna points to |
| CN106647793B (en) * | 2017-02-20 | 2019-11-05 | 上海航天控制技术研究所 | A kind of Direct to the sun method based on magnetometer and sun sensor |
| CN109657417B (en) * | 2019-01-31 | 2023-04-18 | 北京空间飞行器总体设计部 | Energy guarantee design method for inertial space observation satellite |
| CN110231830B (en) * | 2019-06-26 | 2022-05-24 | 北京控制工程研究所 | Spacecraft sun-oriented target coordinate system determination method beneficial to heat balance |
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